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Leader-following synchronization of a multi-agent system with heterogeneous delays

Abstract

An algorithm is presented for leader-following synchronization of a multi-agent system composed of linear agents with time delay. The presence of different delays in various agents can cause a synchronization error that does not converge to zero. However, the norm of this error can be bounded and this boundary is presented. The proof of the main results is formulated by means of linear matrix inequalities, and the size of this problem is independent of the number of agents. Results are illustrated through examples, highlighting the fact that the steady error is caused by heterogeneous delays and demonstrating the capability of the proposed algorithm to achieve synchronization up to a certain error.

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Correspondence to Branislav Rehák.

Additional information

Project supported by the Czech Science Foundation (No. GA19-07635S)

Contributors

Branislav REHÁK designed the research. Branislav REHÁK and Volodymyr LYNNYK processed the data. Branislav REHÁK drafted the manuscript. Volodymyr LYNNYK helped organize the manuscript. Branislav REHÁK and Volodymyr LYNNYK revised and finalized the paper.

Compliance with ethics guidelines

Branislav REHÁK and Volodymyr LYNNYK declare that they have no conflict of interest.

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Rehák, B., Lynnyk, V. Leader-following synchronization of a multi-agent system with heterogeneous delays. Front Inform Technol Electron Eng 22, 97–106 (2021). https://doi.org/10.1631/FITEE.2000207

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  • DOI: https://doi.org/10.1631/FITEE.2000207

Key words

  • Multi-agent system
  • Time delay
  • Linear matrix inequality

CLC number

  • TP13